%Move each particle according to the plan.
%Returns a list of the particles, with updated states.
function particles = move_particles(particles, plan)
    standardDevDist = 0.05;
    standardDevTheta = 0.05;
    particles(:,3) = mod(particles(:,3)+plan(2),2*pi)+(standardDevTheta*randn(size(particles,1),1));
    particles(:,1) = particles(:,1) + (plan(1) + (standardDevDist*randn(size(particles,1),1))).*sin(particles(:,3));
    particles(:,2) = particles(:,2) + (plan(1) + (standardDevDist*randn(size(particles,1),1))).*cos(particles(:,3));
end